Chapter 3 5 Intelligent Agent

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Question Bank BE VII

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Chapter 1 Introduction to Robotics

1. How are robot classified?2. Define the following terms w.r.t. Robots :

(i} reach (ii) stroke (iv) Degree of freedom (v) Coordinatetransformation (vi) Tool orientation (vii) Workspace envelope

3. Define Repeatability, Precision and Accuracy of Robot? Whyrepeatability is important design characteristics?

4. Write notes on the Robot specification.5. Compare the basic robot configuration according to the work

envelope and applications.6. Explain Reach and stroke of robot.7. Discuss work envelope of a four axis SCARA robot8. Define Yaw, Pitch, Roll motions of the tool/grippers.

Chapter 2 Direct and Inverse Kinematics

1. Explain D-H algorithm. Develop the D.K. analysis of 4 axis SCARArobot.

2. Explain screw Transformations.3. Determine the tool configuration vector of SCARA robot, when

T { } T { } T

4. Derive the three fundamental rotation matrices R 1 (), R 2 () and R 3 ()with the help of neat sketch and prove that

RPY = YPRAbout fixed axis About mobile axis

5. Construct the link coordinate diagram using DH algorithm for the SCARA robot and compute the arm matrix

and Kinematic

parameters.6. Find the composite rotation matrix by rotating the tool about fixed axis of

Frame with a yaw of /3 followed by a pitch of /2 and finally roll of /2 radiance, if [P] M = [0, 0, 0.5] T . Find [P] F . Draw the frame rotations.

7. Explain the significance of TCV vector in the solution of InverseKinematic.

8. Discuss the general properties of the solutions of the InverseKinematic.

9. Define Tool-Configuration vector? Shows how to obtained tool roll angleq n ?


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10. What are the advantages/disadvantages of Numerical approach andAnalytical approach to solve the Inverse kinematics problems?

11. Find the position of the tool tip of the Adept one robot when the joint

variables are T Let F = {f 1 ,f 2 ,f 3 } and M = {m 1 ,m 2 ,m 3 } beinitially coincident fixed and mobile orthonormal coordinator frames,respectively. Perform screw transformation along f 2 axis for = 3 and = and find m 3 and determine the pitch of the screw.

12. Explain the conditions for existence of the Inverse kinematics solution? Why the inverse kinematics solutions are not unique?

13. Suppose that [q]m = [0,0,10,1]T represents the homogenous co-ordinates of a point located 5 units along the third vector of a mobile co-ordinate frame M. Assume that initially M is coincident with a fixed co-ordinate frame F. If we rotate the mobile frame M by /6 radian about

the first unit vector of F, then determine the resulting homogenous co-ordinate transformation matrix. Also determine the physical co-ordinatesof the point of in the fixed co-ordinate frame F.

14. If F and M are two orthonormal coordinate frames, translated Malong axis f 2 by three units, rotate M about f 3 axis by radians andhence find [m 1 ]F after composite transformation. [m 1 ]m = [1, 0, 0, 1] T .

15. If F and M are two frames coincident initially, after performing a screwtransformation along f 2 axes of F by a distance o f = 3 and rotation by anangle of 90 about f 2 axes. Find [m 3 ]F after screw transformation. Also

find pitch of the screw [m3]m

= [0, 0, 1, 1] T

.16. Why solution of Inverse Kinematics is not unique for generic robots?17. Determine the tool configuration vector o f SCARA robot when

q = {/6, /3, 150, /2} T 18. Determine the tool configuration vector of a SCARA Robot when the

vector of joint variables is

, { }

{ } 19. Consider the robotic tool shown in figure.


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20. Sketch the tool positions after each intermediate position of thefollowing YPR operation. Yaw 90 0 pitch 90 0 . Rotations are performedabout the fixed axes of F frame. Find co-ordinate of q w.r.t. to fixed axis.

21.

Draw Joint and Link diagram and define : (i) Joint angle, (ii) Jointdistance, (iii) Link length, (iv)Link twist angle. Which is the variableparameter for revolute Joint and Prismatic joint.

22. Let F = {f 1 , f 2 , f 3 } and M = {m 1 , m 2 , m 3 } be initially coincident fixed andmobile orthonormal coordinate frames, respectively. Perform screwtransformation along f 2 axis for = 3 and = /2 and find [m 3 ]F andDetermine the pitch of the screw.

Chapter 3 Intelligent Agents

1. Define an agent.2. What is a rational agent?

3. What is agent program and agent architecture?

4. State the difference between agent function and agent program?

5. Distinguish omniscience and rationality.

6. Explain in detail agent environment.

7. What is a task environment?

8. Describe the various properties of the task environment.9. What is a PEAS description?

10. Write a PEAS description for an automated taxi?

11. Write a PEAS description for a vacuum cleaner?

12. Write a PEAS description for an Interactive English Tutor System?

13. Explain WUMPUS world environment giving its PEAS description.

Explain how percept sequence is generated.


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4. What are the components of problem formulation? Hence formulate

problem for vacuum cleaner, 8-puzzle game & missionaries and

cannibals.

5.

Give the initial state, goal test, successor function, and cost function foreach of the following:

a. You have to color a planar map using only four colors, in such a

way that no two adjacent regions have the same color.

b. A 3-foot-tall monkey is in a room where some bananas are

suspended from the 8-foot ceiling. He would like to get the

bananas. The room contains two stackable, movable, climbable 3-

foot-high crates.c. You have three jugs, measuring 12 gallons, 8 gallons, and 3

gallons, and a water faucet. You can fill the jugs up or empty them

out from one to another or onto the ground. You need to measure

out exactly one gallon.

6. Write an informal description for the general tree search algorithm.

7. Explain the uniformed search strategies with examples.

8. Compare and contrast BFS & DFS. Explain the search strategy

developed to overcome the drawbacks of both.

9. Explain A* algorithm.

10. Describe Hill climbing algorithm. What are its limitations?

11. Compare IDA* with A* in terms of time and space complexity.

12. Is hill climbing guaranteed to find a solution to the n-queens problem?

13. Write short notes on the following Depth First Search, breadth first

search and uniform cost search.

14. Write short notes on Iterative deepening depth first search.

15. Write short notes on Depth limited search

16. Give an example of a problem for which breadth-first-search would

work better than depth-first-search would work better than breadth-

first-search.

17. Describe the Hill Climbing Algorithm. What are the problems in Hill

Climbing Algorithms? Suggest methods to overcome them.


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18. Prove that A* search algorithm is complete and optimal among all

search algorithms.

19. Write in detail about any two informed search strategies.

20.

Consider a 8-puzzle problem and a heuristic function given by taking asum of the distance of the tiles that are in proper positions. Tiles in

proper position have value equal to zero. Using the A* algorithm draw a

solution tree for the 8-puzzle problem.

21. Explain the constraint satisfaction problem technique.

22. What are constraint satisfaction problems (CSP)? How can you

formulate them as search problems?

23.

Discuss the various issues associated with the backtracking search forCSPs. How are they addressed?

24. Trace the constraint satisfaction procedure solving the following crypt

arithmetic problem

C R O S S

+ R O A D S

D A N G E R

Chapter 6 Knowledge and Reasoning

1. Write note on Forward chain algorithm with suitable example.

2. Explain the backward chaining algorithm with suitable example.

3. Represent the fact described by the following sentence as a set of wffs in

predicate logic?

Marcus tried to assassinate Caesar.

4. Consider following statements

John likes all kinds of food

Apples are food

Chicken is food

Anything anyone eats and isnt killed by is food

Bill eats peanuts and still alive


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Sue eat everything Bill eats

i) Translate above statement into formulas in predicate logic

ii) Convert formulas in clause from for given set of statements.

iii) Prove John likes peanuts using resolution.

5. Represent the following sentences in first order logic.

Jemess father is married to kind Johans mother

For all x and all y, if x is the parent of y then y is the child of x

There is someone who is loved by every one.

There is no one who does not like Ice Cream.

Spot has at least two sisters

6. Represent the following sentences in first order logic.

(i) Not all students take History and Biology.

(ii) Only one student failed both History and Biology.

(iii) There is a barber who shaves all men in town who do not shave

themselves.

(iv) Well, I like sandy and I do not like sandy.

(v) One more outburst like that and you will be in contempt of court

7. Explain in detail about the unification with an algorithm in a first order

logic

8. Explain Partitioned Semantic nets for the following

a. The dog bit the mail carrier

b. Every dog has bitten a mail carrier

c. Every dog in town has bitten the constable.


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d. Every dog has bitten every mail carrier.

Chapter 7 Uncertain Knowledge and Reasoning

1. 1% of women over age forty who are screened, have breast cancer. 80% of women who really do have breast cancer will have a positive mammography (meaning the test indicates she has cancer). 9.6% of women who do notactually have breast cancer will have a positive mammography (meaningthat they are incorrectly diagnosed with cancer). Define two Boolean randomvariables, M meaning a positive mammography test and ~M meaning anegative test, and C meaning the woman has breast cancer and ~C meansshe does not.

(a) If a woman in this age group gets a positive mammography, what is the

probability that she actually has breast cancer?

(b) True or False: The "Prior" probability, indicating the percentage of women with breast cancer, is not needed to compute the "Posterior"probability of a woman having breast cancer given a positive mammography.

(c) Say a woman who gets a positive mammography test, M1, goes back andgets a second mammography, M2, which also is positive. Use the NaiveBayes assumption to compute the probability that she has breast cancergiven the results from these two tests.

(d) True or False: P(C | M1, M2) can be calculated in general given only P(C)and P(M1, M2 | C).

2. Consider the following Bayesian Network containing 3 Boolean randomvariables:

Compute the following quantities:

(i) P(~B, C | A)(ii) P(A | ~B, C)

Chapter 8 Learning


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1. What are the types of learning ?

2. State the design issues that affect the learning element.

3. State the factors that play a role in the design of a learning systems.

4.

State the decision tree as a performance element.5. Explain the various forms of learning.

6. How is the learning process in a decision tree?

7. What are the various methods of logical formulation in logical learning?

Chapter 9 Planning

1. How planning problem is represented? Explain with suitable example.

2. Explain partial order planning with the help of example Spare tyre

problem. Changing the flat tyre with spare one.

3. Explain knowledge engineering process.

4. Explain the various steps associated with the knowledge engineering

process? Discuss them by applying the steps to any real world

application of your choice.

5. What are the various ontologies involved in situation calculus?

6. How did you solve the following problems in situation calculus?

a. Representational frame problems

b. Inferential frame problems.

7. dfa

8. Let us consider a version of the milk/banana/drill shopping problem

9. Let CC denote a credit card that the agent can use to buy any object.

Write the description of Buy so that the agent has to have its credit card

in order to buy anything.

10. Write a Pick-Up operator that enables the agent to have an object if it

is portable and at the same location as the agent. 1 of 2

11. Assume that the credit card is at home, but Have(CC) is initially false.

Construct a partially ordered plan that achieves the goal, showing both

ordering constraints and causal links.

12. Explain in detail what happens during the planning process when the

agent explores a partial plan in which it leaves home without the card.


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13. What are decision trees? Draw a decision tree for the problem of

deciding whether or not to move forward at a road intersection given that

the light has just turned green.

14.

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Chapter 3 5 Intelligent Agent